86 |
113 |
114 |
117 |
129 | {
137 | const newValue = parseInt(event.currentTarget.value)
138 | if (newValue >= MIN_DISTANCE && newValue <= MAX_DISTANCE) {
139 | props.onSetDistance(newValue)
140 | }
141 | }}
142 | style={{
143 | width: '100%',
144 | minWidth: 0,
145 | display: 'flex',
146 | color: secondaryTextColor,
147 | backgroundColor: secondaryDarkColor,
148 | border: 0,
149 | borderRadius: `${sizingUnit}px`,
150 | padding: `${sizingUnit / 2}px`,
151 | }}
152 | />
153 |
165 | {
173 | const newValue = parseInt(event.currentTarget.value)
174 | if (newValue >= MIN_SPEED && newValue <= MAX_SPEED) {
175 | props.onSetSpeed(newValue)
176 | }
177 | }}
178 | style={{
179 | width: '100%',
180 | minWidth: 0,
181 | display: 'flex',
182 | color: secondaryTextColor,
183 | backgroundColor: secondaryDarkColor,
184 | border: 0,
185 | borderRadius: `${sizingUnit}px`,
186 | padding: `${sizingUnit / 2}px`,
187 | }}
188 | />
189 |
190 |
246 |
247 |
248 | {(provided: DroppableProvided) => (
249 |
258 |
267 |
setIsPlaying(prevIsPlaying => !prevIsPlaying)}
269 | isPlaying={isPlaying}
270 | />
271 |
272 |
273 |
280 |
281 | {provided.placeholder}
282 |
293 |
300 |
301 | )}
302 |
303 |
304 |
19 |
43 |
49 | {props.commandItem.action === 'land' ||
50 | props.commandItem.action === 'takeoff' ? (
51 |
52 | ) : (
53 |
62 | )}
63 |
64 | )}
65 |
66 | )
67 | }
68 |
69 | type CommandsProps = {
70 | list: CommandItem[]
71 | direction: 'row' | 'column'
72 | onSetSpeed: (commandId: string, speed: number) => void
73 | onSetDistance: (commandId: string, distance: number) => void
74 | firstItemTimeLeft: number
75 | }
76 |
77 | export function Commands(props: CommandsProps) {
78 | return (
79 |
88 | {props.list.map((command, index) => (
89 | {
95 | props.onSetDistance(command.id, distance)
96 | }}
97 | onSetSpeed={speed => {
98 | props.onSetSpeed(command.id, speed)
99 | }}
100 | />
101 | ))}
102 |
103 | )
104 | }
105 |
--------------------------------------------------------------------------------
/client/src/DroneService.ts:
--------------------------------------------------------------------------------
1 | let _peerConnection: RTCPeerConnection | null = null
2 | let _dataChannel: RTCDataChannel | null = null
3 |
4 | export function setPeerConnection() {
5 | _peerConnection = new RTCPeerConnection({
6 | iceServers: [
7 | {
8 | urls: 'stun:stun.l.google.com:19302',
9 | },
10 | ],
11 | })
12 | }
13 |
14 | export function getPeerConnection() {
15 | if (_peerConnection === null) {
16 | throw new Error('Set drone connection before accessing it')
17 | }
18 | return _peerConnection
19 | }
20 |
21 | export function setStreamCallback(video: HTMLVideoElement) {
22 | const peerConnection = getPeerConnection()
23 | peerConnection.addTransceiver('video', { direction: 'recvonly' })
24 | peerConnection.ontrack = event => {
25 | video.srcObject = event.streams[0]
26 | video.autoplay = true
27 | }
28 | }
29 |
30 | export async function negotiateConnection() {
31 | const peerConnection = getPeerConnection()
32 | const dataChannelIsOpen = setCommandDataChannel()
33 |
34 | const offer = await peerConnection.createOffer()
35 | peerConnection.setLocalDescription(offer)
36 | const answer = await fetch('http://localhost:50000', {
37 | method: 'POST',
38 | headers: {
39 | 'Content-Type': 'application/json',
40 | },
41 | body: JSON.stringify(offer),
42 | })
43 | const response = await answer.json()
44 | await peerConnection.setRemoteDescription(response)
45 | await dataChannelIsOpen
46 | }
47 |
48 | export function setCommandDataChannel(): Promise<{}> {
49 | const peerConnection = getPeerConnection()
50 | const initiateDataChannel = peerConnection.createDataChannel('commands')
51 |
52 | const isOpen = new Promise(resolve => {
53 | // eslint-disable-next-line @typescript-eslint/no-unused-vars
54 | initiateDataChannel.onopen = e => {
55 | _dataChannel = initiateDataChannel
56 | resolve()
57 | }
58 | })
59 |
60 | return isOpen
61 | }
62 |
63 | export function getCommandDataChannel() {
64 | if (_dataChannel === null) {
65 | throw new Error('Set command channel before accessing it')
66 | }
67 | return _dataChannel
68 | }
69 |
70 | // type Command = 'connect' | 'streamon' | 'streamoff' | 'land' | 'takeoff' | 'down'
71 | export function sendCommand(command: string) {
72 | const dataChannel = getCommandDataChannel()
73 | dataChannel.send(command)
74 | }
75 |
76 | export function connectToDrone() {
77 | sendCommand('command')
78 | }
79 |
80 | export function streamOn() {
81 | sendCommand('streamon')
82 | }
83 |
84 | export function streamOff() {
85 | sendCommand('streamoff')
86 | }
87 |
88 | export function takeOff() {
89 | sendCommand('takeoff')
90 | }
91 |
92 | export function land() {
93 | sendCommand('land')
94 | }
95 |
96 | export function down(distance: number) {
97 | sendCommand(`down ${distance}`)
98 | }
99 |
100 | export function up(distance: number) {
101 | sendCommand(`up ${distance}`)
102 | }
103 |
104 | export function left(distance: number) {
105 | sendCommand(`left ${distance}`)
106 | }
107 |
108 | export function right(distance: number) {
109 | sendCommand(`right ${distance}`)
110 | }
111 |
112 | export function setSpeed(speed: number) {
113 | sendCommand(`speed ${speed}`)
114 | }
115 |
--------------------------------------------------------------------------------
/client/src/PlayStopIcon.tsx:
--------------------------------------------------------------------------------
1 | import React from 'react'
2 | import { useSpring, animated } from 'react-spring'
3 |
4 | type Props = {
5 | isPlaying: boolean
6 | onClick: () => void
7 | }
8 |
9 | export function PlayStopIcon(props: Props) {
10 | const { isPlaying, onClick } = props
11 |
12 | const path = isPlaying ? 'M0 0L260 0L260 260L0 260' : 'M130 0L260 130L130 260L130 130'
13 | const animations = useSpring({ iconPath: path })
14 | return (
15 |
24 | )
25 | }
26 |
--------------------------------------------------------------------------------
/client/src/ServerConnectIcon.tsx:
--------------------------------------------------------------------------------
1 | import React from 'react'
2 | import { useSpring, animated } from 'react-spring'
3 | type Props = {
4 | isConnected: boolean
5 | onClick: () => void
6 | }
7 |
8 | function getCoords(connected: boolean) {
9 | const center = connected ? { x1: 50, x2: 50 } : { x1: 30, x2: 70 }
10 |
11 | const line1Path = `M${center.x1 - 30} 50L${center.x1} 50 M${center.x1} 20L${
12 | center.x1
13 | } 80`
14 |
15 | const line2Path = `M${center.x2 + 30} 50L${center.x2} 50 M${center.x2} 20L${
16 | center.x2
17 | } 80`
18 | return {
19 | line1Path,
20 | line2Path,
21 | }
22 | }
23 |
24 | export function ServerConnectIcon(props: Props) {
25 | const { isConnected, onClick } = props
26 | const coords = getCoords(isConnected)
27 | const animations = useSpring({ ...coords })
28 | return (
29 |
39 | )
40 | }
41 |
--------------------------------------------------------------------------------
/client/src/WebRTC.tsx:
--------------------------------------------------------------------------------
1 | import React, { useRef, useState } from 'react'
2 | import {
3 | setPeerConnection,
4 | negotiateConnection,
5 | connectToDrone,
6 | setStreamCallback,
7 | streamOn,
8 | } from './DroneService'
9 | import { ServerConnectIcon } from './ServerConnectIcon'
10 | import { primaryDarkColor, primaryColor } from './theme'
11 |
12 | async function startWebRTC(video: HTMLVideoElement) {
13 | setPeerConnection()
14 | setStreamCallback(video)
15 | await negotiateConnection()
16 | connectToDrone()
17 | streamOn()
18 | }
19 |
20 | export function WebRTC() {
21 | const video = useRef(null)
22 | const [isConnected, setIsConnected] = useState(false)
23 | return (
24 |
25 |
26 |
41 | {
44 | if (video.current === null) {
45 | throw new Error('Video element is not ready')
46 | }
47 | await startWebRTC(video.current)
48 | setIsConnected(true)
49 | }}
50 | />
51 |
52 |
24 | {props.children}
25 |
26 | )
27 | }
28 |
29 | storiesOf('Command', module)
30 | .addDecorator(withKnobs)
31 | .addDecorator(center)
32 | .add('default', () => (
33 |
34 |
43 |
44 | ))
45 | .add('control commands', () => (
46 |
47 |
48 |
49 |
50 |
51 |
52 |
53 |
54 | ))
55 | .add('multiple', () => (
56 |
57 |
58 |
67 |
68 |
69 |
78 |
79 |
80 |
89 |
90 |
91 |
100 |
101 |
102 |
111 |
112 |
113 |
122 |
123 |
124 | ))
125 |
--------------------------------------------------------------------------------
/client/stories/CommandBoard.stories.tsx:
--------------------------------------------------------------------------------
1 | import React from 'react'
2 |
3 | import { storiesOf } from '@storybook/react'
4 |
5 | import { CommandBoard } from '../src/CommandBoard'
6 |
7 | storiesOf('CommandBoard', module).add('default', () => )
8 |
--------------------------------------------------------------------------------
/client/stories/PlayStopIcon.stories.tsx:
--------------------------------------------------------------------------------
1 | import React, { useState } from 'react'
2 |
3 | import { storiesOf } from '@storybook/react'
4 |
5 | import { PlayStopIcon } from '../src/PlayStopIcon'
6 |
7 | function PlayStopIconContainer() {
8 | const [isPlaying, setIsPlaying] = useState(true)
9 | return (
10 |
11 |
setIsPlaying(oldIsPlaying => !oldIsPlaying)}
14 | />
15 |
11 | {
14 | setIsConnected(oldIsConnected => !oldIsConnected)
15 | }}
16 | />
17 |
18 | )
19 | }
20 |
21 | storiesOf('ServerConnectIcon', module).add('default', () => (
22 |
23 | ))
24 |
--------------------------------------------------------------------------------
/client/stories/index.stories.tsx:
--------------------------------------------------------------------------------
1 | import React from 'react'
2 |
3 | import { storiesOf } from '@storybook/react'
4 | import { action } from '@storybook/addon-actions'
5 |
6 | import { ReactNode } from 'react'
7 |
8 | type Props = {
9 | onClick: () => void
10 | children?: ReactNode
11 | }
12 |
13 | function Button(props: Props) {
14 | return
15 | }
16 |
17 | storiesOf('Button', module)
18 | .add('with text', () => )
19 | .add('with some emoji', () => (
20 |
25 | ))
26 |
--------------------------------------------------------------------------------
/client/tsconfig.json:
--------------------------------------------------------------------------------
1 | {
2 | "compilerOptions": {
3 | "rootDirs": [
4 | "src",
5 | "stories"
6 | ],
7 | "baseUrl": "src",
8 | "target": "es5",
9 | "lib": [
10 | "dom",
11 | "dom.iterable",
12 | "esnext"
13 | ],
14 | "allowJs": true,
15 | "skipLibCheck": true,
16 | "esModuleInterop": true,
17 | "allowSyntheticDefaultImports": true,
18 | "strict": true,
19 | "forceConsistentCasingInFileNames": true,
20 | "module": "esnext",
21 | "moduleResolution": "node",
22 | "resolveJsonModule": true,
23 | "isolatedModules": true,
24 | "noEmit": true,
25 | "jsx": "preserve"
26 | },
27 | "include": [
28 | "src",
29 | "stories"
30 | ]
31 | }
32 |
--------------------------------------------------------------------------------
/demo.gif:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/Ragnar-H/TelloGo/cc3950588b70e4539d7522502e522fe9f30af6d1/demo.gif
--------------------------------------------------------------------------------
/docker-compose.yml:
--------------------------------------------------------------------------------
1 | version: "3"
2 | services:
3 | server:
4 | build: ./server
5 | ports:
6 | # Note that you need to forward a large range of ports for WebRTC
7 | # https://stackoverflow.com/questions/29563830/use-specific-ports-for-webrtc
8 | - "8089:8089/udp" # Drone
9 | - "8090:8090/udp" # Drone
10 | - "11111:11111/udp" # Drone
11 | - "6038:6038/udp" # Drone
12 | - "50000:50000" # API Server
13 | client:
14 | build: ./client
15 | ports:
16 | - "5000:5000"
17 |
--------------------------------------------------------------------------------
/go.mod:
--------------------------------------------------------------------------------
1 | module github.com/ragnar-h/TelloGo
2 |
3 | go 1.12
4 |
5 | require github.com/pion/webrtc/v2 v2.0.14
6 |
--------------------------------------------------------------------------------
/go.sum:
--------------------------------------------------------------------------------
1 | github.com/cheekybits/genny v1.0.0/go.mod h1:+tQajlRqAUrPI7DOSpB0XAqZYtQakVtB7wXkRAgjxjQ=
2 | github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
3 | github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
4 | github.com/fsnotify/fsnotify v1.4.7/go.mod h1:jwhsz4b93w/PPRr/qN1Yymfu8t87LnFCMoQvtojpjFo=
5 | github.com/golang/mock v1.2.0/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A=
6 | github.com/golang/protobuf v1.2.0/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
7 | github.com/hpcloud/tail v1.0.0/go.mod h1:ab1qPbhIpdTxEkNHXyeSf5vhxWSCs/tWer42PpOxQnU=
8 | github.com/lucas-clemente/quic-go v0.7.1-0.20190401152353-907071221cf9/go.mod h1:PpMmPfPKO9nKJ/psF49ESTAGQSdfXxlg1otPbEB2nOw=
9 | github.com/marten-seemann/qtls v0.2.3/go.mod h1:xzjG7avBwGGbdZ8dTGxlBnLArsVKLvwmjgmPuiQEcYk=
10 | github.com/onsi/ginkgo v1.6.0/go.mod h1:lLunBs/Ym6LB5Z9jYTR76FiuTmxDTDusOGeTQH+WWjE=
11 | github.com/onsi/ginkgo v1.7.0/go.mod h1:lLunBs/Ym6LB5Z9jYTR76FiuTmxDTDusOGeTQH+WWjE=
12 | github.com/onsi/gomega v1.4.3/go.mod h1:ex+gbHU/CVuBBDIJjb2X0qEXbFg53c61hWP/1CpauHY=
13 | github.com/pion/datachannel v1.4.3 h1:tqS6YiqqAiFCxGGhvn1K7fHEzemK9Aov025dE/isGFo=
14 | github.com/pion/datachannel v1.4.3/go.mod h1:SpMJbuu8v+qbA94m6lWQwSdCf8JKQvgmdSHDNtcbe+w=
15 | github.com/pion/dtls v1.3.4 h1:MdOMsCfd44m2iTrxtkzA6UndvYVjLWWjua7hxU8EXEA=
16 | github.com/pion/dtls v1.3.4/go.mod h1:CjlPLfQdsTg3G4AEXjJp8FY5bRweBlxHrgoFrN+fQsk=
17 | github.com/pion/ice v0.2.6 h1:N/xhQtO6WfWlyMvIZgE+cqG5AHJnKL+aEboade72qno=
18 | github.com/pion/ice v0.2.6/go.mod h1:igvbO76UeYthbSu0UsUTqjyWpFT3diUmM+x2vt4p4fw=
19 | github.com/pion/logging v0.2.1 h1:LwASkBKZ+2ysGJ+jLv1E/9H1ge0k1nTfi1X+5zirkDk=
20 | github.com/pion/logging v0.2.1/go.mod h1:k0/tDVsRCX2Mb2ZEmTqNa7CWsQPc+YYCB7Q+5pahoms=
21 | github.com/pion/quic v0.1.1/go.mod h1:zEU51v7ru8Mp4AUBJvj6psrSth5eEFNnVQK5K48oV3k=
22 | github.com/pion/rtcp v1.2.0 h1:rT2FptW5YHIern+4XlbGYnnsT26XGxurnkNLnzhtDXg=
23 | github.com/pion/rtcp v1.2.0/go.mod h1:a5dj2d6BKIKHl43EnAOIrCczcjESrtPuMgfmL6/K6QM=
24 | github.com/pion/rtp v1.1.2 h1:ERNugzYHW9F2ldpwoARbeFGKRoq1REe5Jxdjvm/rOx8=
25 | github.com/pion/rtp v1.1.2/go.mod h1:/l4cvcKd0D3u9JLs2xSVI95YkfXW87a3br3nqmVtSlE=
26 | github.com/pion/sctp v1.6.3 h1:SC4vKOjcddK8tXiTNj05a+0/GyPpCmuNfeBA/rzNFqs=
27 | github.com/pion/sctp v1.6.3/go.mod h1:cCqpLdYvgEUdl715+qbWtgT439CuQrAgy8BZTp0aEfA=
28 | github.com/pion/sdp/v2 v2.1.1 h1:i3fAyjiLuQseYNo0BtCOPfzp91Ppb7vasRGmUUTog28=
29 | github.com/pion/sdp/v2 v2.1.1/go.mod h1:idSlWxhfWQDtTy9J05cgxpHBu/POwXN2VDRGYxT/EjU=
30 | github.com/pion/srtp v1.2.4 h1:wwGKC5ewuBukkZ+i+pZ8aO33+t6z2y/XRiYtyP0Xpv0=
31 | github.com/pion/srtp v1.2.4/go.mod h1:52qiP0g3FVMG/5NL6Ko8Vr2qirevKH+ukYbNS/4EX40=
32 | github.com/pion/stun v0.2.1 h1:rSKJ0ynYkRalRD8BifmkaGLeepCFuGTwG6FxPsrPK8o=
33 | github.com/pion/stun v0.2.1/go.mod h1:TChCNKgwnFiFG/c9K+zqEdd6pO6tlODb9yN1W/zVfsE=
34 | github.com/pion/transport v0.6.0/go.mod h1:iWZ07doqOosSLMhZ+FXUTq+TamDoXSllxpbGcfkCmbE=
35 | github.com/pion/transport v0.7.0 h1:EsXN8TglHMlKZMo4ZGqwK6QgXBu0WYg7wfGMWIXsS+w=
36 | github.com/pion/transport v0.7.0/go.mod h1:iWZ07doqOosSLMhZ+FXUTq+TamDoXSllxpbGcfkCmbE=
37 | github.com/pion/webrtc/v2 v2.0.14 h1:DTbZJKfBZUgS4quwEVYvw7aO+S04ru6+b60VYtWfhuE=
38 | github.com/pion/webrtc/v2 v2.0.14/go.mod h1:ovVq/ED/KYNHWEzbKx7ecLZ9juWgptg0uniZIdJxWbg=
39 | github.com/pkg/errors v0.8.0/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
40 | github.com/pkg/errors v0.8.1 h1:iURUrRGxPUNPdy5/HRSm+Yj6okJ6UtLINN0Q9M4+h3I=
41 | github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
42 | github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
43 | github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
44 | github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
45 | golang.org/x/crypto v0.0.0-20190228161510-8dd112bcdc25/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
46 | golang.org/x/crypto v0.0.0-20190404164418-38d8ce5564a5 h1:bselrhR0Or1vomJZC8ZIjWtbDmn9OYFLX5Ik9alpJpE=
47 | golang.org/x/crypto v0.0.0-20190404164418-38d8ce5564a5/go.mod h1:WFFai1msRO1wXaEeE5yQxYXgSfI8pQAWXbQop6sCtWE=
48 | golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4=
49 | golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
50 | golang.org/x/sys v0.0.0-20180909124046-d0be0721c37e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
51 | golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
52 | golang.org/x/sys v0.0.0-20190228124157-a34e9553db1e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
53 | golang.org/x/sys v0.0.0-20190403152447-81d4e9dc473e/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
54 | golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
55 | gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
56 | gopkg.in/fsnotify.v1 v1.4.7/go.mod h1:Tz8NjZHkW78fSQdbUxIjBTcgA1z1m8ZHf0WmKUhAMys=
57 | gopkg.in/tomb.v1 v1.0.0-20141024135613-dd632973f1e7/go.mod h1:dt/ZhP58zS4L8KSrWDmTeBkI65Dw0HsyUHuEVlX15mw=
58 | gopkg.in/yaml.v2 v2.2.1/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
59 |
--------------------------------------------------------------------------------
/makefile:
--------------------------------------------------------------------------------
1 | MAKEFLAGS += -j2
2 |
3 | all: start_client start_server
4 |
5 | install: install_client install_server
6 |
7 | start_client:
8 | cd client && yarn start
9 |
10 | start_server:
11 | cd server && go run .
12 |
13 | start_server_dev:
14 | cd server && GST_DEBUG=*:3 go run . -video-src "videotestsrc"
15 |
16 | install_client:
17 | cd client && yarn install
18 |
19 | install_server:
20 | cd server && go install .
--------------------------------------------------------------------------------
/server/Dockerfile:
--------------------------------------------------------------------------------
1 | FROM golang:1.12.1-alpine3.9 as build
2 | RUN apk add --update git
3 | ENV GO111MODULE=on
4 |
5 | WORKDIR /src/app
6 | COPY go.mod go.sum ./
7 | RUN go mod download
8 |
9 | COPY . ./
10 | RUN go install
11 |
12 | FROM alpine:3.9
13 | COPY --from=build /go/bin/TelloGo /app
14 | # EXPOSE 50000
15 | ENTRYPOINT ./app
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/server/gst.c:
--------------------------------------------------------------------------------
1 | #include "gst.h"
2 |
3 | #include
4 |
5 | typedef struct SampleHandlerUserData {
6 | int pipelineId;
7 | } SampleHandlerUserData;
8 |
9 | GMainLoop *gstreamer_send_main_loop = NULL;
10 | void gstreamer_send_start_mainloop(void) {
11 | gstreamer_send_main_loop = g_main_loop_new(NULL, FALSE);
12 |
13 | g_main_loop_run(gstreamer_send_main_loop);
14 | }
15 |
16 | static gboolean gstreamer_send_bus_call(GstBus *bus, GstMessage *msg, gpointer data) {
17 | switch (GST_MESSAGE_TYPE(msg)) {
18 |
19 | case GST_MESSAGE_EOS:
20 | g_print("End of stream\n");
21 | exit(1);
22 | break;
23 |
24 | case GST_MESSAGE_ERROR: {
25 | gchar *debug;
26 | GError *error;
27 |
28 | gst_message_parse_error(msg, &error, &debug);
29 | g_free(debug);
30 |
31 | g_printerr("Error: %s\n", error->message);
32 | g_error_free(error);
33 | exit(1);
34 | }
35 | default:
36 | break;
37 | }
38 |
39 | return TRUE;
40 | }
41 |
42 | GstFlowReturn gstreamer_send_new_sample_handler(GstElement *object, gpointer user_data) {
43 | GstSample *sample = NULL;
44 | GstBuffer *buffer = NULL;
45 | gpointer copy = NULL;
46 | gsize copy_size = 0;
47 | SampleHandlerUserData *s = (SampleHandlerUserData *)user_data;
48 |
49 | g_signal_emit_by_name (object, "pull-sample", &sample);
50 | if (sample) {
51 | buffer = gst_sample_get_buffer(sample);
52 | if (buffer) {
53 | gst_buffer_extract_dup(buffer, 0, gst_buffer_get_size(buffer), ©, ©_size);
54 | goHandlePipelineBuffer(copy, copy_size, GST_BUFFER_DURATION(buffer), s->pipelineId);
55 | }
56 | gst_sample_unref (sample);
57 | }
58 |
59 | return GST_FLOW_OK;
60 | }
61 |
62 | GstElement *gstreamer_send_create_pipeline(char *pipeline) {
63 | gst_init(NULL, NULL);
64 | GError *error = NULL;
65 | return gst_parse_launch(pipeline, &error);
66 | }
67 |
68 | void gstreamer_send_start_pipeline(GstElement *pipeline, int pipelineId) {
69 | SampleHandlerUserData *s = calloc(1, sizeof(SampleHandlerUserData));
70 | s->pipelineId = pipelineId;
71 |
72 | GstBus *bus = gst_pipeline_get_bus(GST_PIPELINE(pipeline));
73 | gst_bus_add_watch(bus, gstreamer_send_bus_call, NULL);
74 | gst_object_unref(bus);
75 |
76 | GstElement *appsink = gst_bin_get_by_name(GST_BIN(pipeline), "appsink");
77 | g_object_set(appsink, "emit-signals", TRUE, NULL);
78 | g_signal_connect(appsink, "new-sample", G_CALLBACK(gstreamer_send_new_sample_handler), s);
79 | gst_object_unref(appsink);
80 |
81 | gst_element_set_state(pipeline, GST_STATE_PLAYING);
82 | }
83 |
84 | void gstreamer_send_stop_pipeline(GstElement *pipeline) {
85 | gst_element_set_state(pipeline, GST_STATE_NULL);
86 | }
87 |
88 |
89 |
--------------------------------------------------------------------------------
/server/gst.go:
--------------------------------------------------------------------------------
1 | package main
2 |
3 | /*
4 | #cgo pkg-config: gstreamer-1.0 gstreamer-app-1.0
5 |
6 | #include "gst.h"
7 |
8 | */
9 | import "C"
10 | import (
11 | "fmt"
12 | "sync"
13 | "unsafe"
14 |
15 | "github.com/pion/webrtc/v2"
16 | "github.com/pion/webrtc/v2/pkg/media"
17 | )
18 |
19 | func init() {
20 | go C.gstreamer_send_start_mainloop()
21 | }
22 |
23 | // Pipeline is a wrapper for a GStreamer Pipeline
24 | type Pipeline struct {
25 | Pipeline *C.GstElement
26 | tracks []*webrtc.Track
27 | id int
28 | codecName string
29 | }
30 |
31 | var pipelines = make(map[int]*Pipeline)
32 | var pipelinesLock sync.Mutex
33 |
34 | // CreateMyPipeline creates a GStreamer Pipeline
35 | func CreateMyPipeline(codecName string, tracks []*webrtc.Track, pipelineSrc string) *Pipeline {
36 | fmt.Println("creating a pipeline")
37 | pipelineStr := "appsink name=appsink"
38 | switch codecName {
39 | case webrtc.VP8:
40 | pipelineStr = pipelineSrc + " ! vp8enc error-resilient=partitions keyframe-max-dist=10 auto-alt-ref=true cpu-used=5 deadline=1 ! " + pipelineStr
41 | case webrtc.VP9:
42 | pipelineStr = pipelineSrc + " ! vp9enc ! " + pipelineStr
43 | case webrtc.H264:
44 | pipelineStr = pipelineSrc + " ! video/x-raw,format=I420 ! x264enc bframes=0 speed-preset=veryfast key-int-max=60 ! video/x-h264,stream-format=byte-stream ! " + pipelineStr
45 | case webrtc.Opus:
46 | pipelineStr = pipelineSrc + " ! opusenc ! " + pipelineStr
47 | case webrtc.G722:
48 | pipelineStr = pipelineSrc + " ! avenc_g722 ! " + pipelineStr
49 | default:
50 | panic("Unhandled codec " + codecName)
51 | }
52 |
53 | pipelineStrUnsafe := C.CString(pipelineStr)
54 | defer C.free(unsafe.Pointer(pipelineStrUnsafe))
55 |
56 | pipelinesLock.Lock()
57 | defer pipelinesLock.Unlock()
58 |
59 | pipeline := &Pipeline{
60 | Pipeline: C.gstreamer_send_create_pipeline(pipelineStrUnsafe),
61 | tracks: tracks,
62 | id: len(pipelines),
63 | codecName: codecName,
64 | }
65 |
66 | pipelines[pipeline.id] = pipeline
67 | return pipeline
68 | }
69 |
70 | // Start starts the GStreamer Pipeline
71 | func (p *Pipeline) Start() {
72 | C.gstreamer_send_start_pipeline(p.Pipeline, C.int(p.id))
73 | }
74 |
75 | // Stop stops the GStreamer Pipeline
76 | func (p *Pipeline) Stop() {
77 | C.gstreamer_send_stop_pipeline(p.Pipeline)
78 | }
79 |
80 | const (
81 | videoClockRate = 90000
82 | audioClockRate = 48000
83 | )
84 |
85 | //export goHandlePipelineBuffer
86 | func goHandlePipelineBuffer(buffer unsafe.Pointer, bufferLen C.int, duration C.int, pipelineID C.int) {
87 | pipelinesLock.Lock()
88 | pipeline, ok := pipelines[int(pipelineID)]
89 | pipelinesLock.Unlock()
90 |
91 | if ok {
92 | var samples uint32
93 | if pipeline.codecName == webrtc.Opus {
94 | samples = uint32(audioClockRate * (float32(duration) / 1000000000))
95 | } else {
96 | samples = uint32(videoClockRate * (float32(duration) / 1000000000))
97 | }
98 | for _, t := range pipeline.tracks {
99 | if err := t.WriteSample(media.Sample{Data: C.GoBytes(buffer, bufferLen), Samples: samples}); err != nil {
100 | panic(err)
101 | }
102 | }
103 | } else {
104 | fmt.Printf("discarding buffer, no pipeline with id %d", int(pipelineID))
105 | }
106 | C.free(buffer)
107 | }
108 |
--------------------------------------------------------------------------------
/server/gst.h:
--------------------------------------------------------------------------------
1 | #ifndef GST_H
2 | #define GST_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 |
9 | extern void goHandlePipelineBuffer(void *buffer, int bufferLen, int samples, int pipelineId);
10 |
11 | GstElement *gstreamer_send_create_pipeline(char *pipeline);
12 | void gstreamer_send_start_pipeline(GstElement *pipeline, int pipelineId);
13 | void gstreamer_send_stop_pipeline(GstElement *pipeline);
14 | void gstreamer_send_start_mainloop(void);
15 |
16 | #endif
17 |
--------------------------------------------------------------------------------
/server/main.go:
--------------------------------------------------------------------------------
1 | package main
2 |
3 | import "fmt"
4 |
5 | func main() {
6 | fmt.Println("Starting the server")
7 | Server()
8 | }
9 |
--------------------------------------------------------------------------------
/server/server.go:
--------------------------------------------------------------------------------
1 | package main
2 |
3 | import (
4 | "encoding/json"
5 | "flag"
6 | "fmt"
7 | "math/rand"
8 | "net/http"
9 |
10 | "github.com/pion/webrtc/v2"
11 | )
12 |
13 | // Server sets up an endpoint that negotiates and creates WebRTC
14 | func Server() {
15 | address := flag.String("address", ":50000", "Address to host the HTTP server on.")
16 | videoSrc := flag.String("video-src", gstreamerCommand, "GStreamer video src")
17 | flag.Parse()
18 | http.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) {
19 | fmt.Println("Got a request")
20 | setupResponse(&w, r)
21 | if (*r).Method == "OPTIONS" {
22 | // Handle CORS
23 | return
24 | }
25 |
26 | var offer webrtc.SessionDescription
27 |
28 | err := json.NewDecoder(r.Body).Decode(&offer)
29 | if err != nil {
30 | panic(err)
31 | }
32 |
33 | tello := NewTello()
34 | // Start new peerConnection and create answer
35 | answer := droneWebRTC(offer, *videoSrc, tello)
36 |
37 | err = json.NewEncoder(w).Encode(answer)
38 | if err != nil {
39 | panic(err)
40 | }
41 | })
42 |
43 | go func() {
44 | panic(http.ListenAndServe(*address, nil))
45 | }()
46 | fmt.Println("Listening on", *address)
47 | // Block forever
48 | select {}
49 | }
50 |
51 | func setupResponse(w *http.ResponseWriter, req *http.Request) {
52 | (*w).Header().Set("Access-Control-Allow-Origin", "*")
53 | (*w).Header().Set("Access-Control-Allow-Methods", "POST, GET, OPTIONS, PUT, DELETE")
54 | (*w).Header().Set("Access-Control-Allow-Headers", "Accept, Content-Type, Content-Length, Accept-Encoding, X-CSRF-Token, Authorization")
55 | }
56 |
57 | func droneWebRTC(offer webrtc.SessionDescription, videoSrc string, tello Tello) webrtc.SessionDescription {
58 | config := webrtc.Configuration{
59 | ICEServers: []webrtc.ICEServer{
60 | {
61 | URLs: []string{"stun:stun.l.google.com:19302"},
62 | },
63 | },
64 | }
65 | m := webrtc.MediaEngine{}
66 | m.RegisterCodec(webrtc.NewRTPVP8Codec(webrtc.DefaultPayloadTypeVP8, 90000))
67 |
68 | api := webrtc.NewAPI(webrtc.WithMediaEngine(m))
69 | // Create a new RTCPeerConnection
70 | peerConnection, err := api.NewPeerConnection(config)
71 | if err != nil {
72 | panic(err)
73 | }
74 |
75 | // Setup tracks and event handlers
76 | firstVideoTrack, err := peerConnection.NewTrack(webrtc.DefaultPayloadTypeVP8, rand.Uint32(), "video", "droneStream")
77 | if err != nil {
78 | panic(err)
79 | }
80 | _, err = peerConnection.AddTrack(firstVideoTrack)
81 | if err != nil {
82 | panic(err)
83 | }
84 |
85 | peerConnection.OnDataChannel(func(d *webrtc.DataChannel) {
86 | fmt.Printf("New DataChannel %s %d\n", d.Label(), d.ID())
87 |
88 | // Register channel opening handling
89 | d.OnOpen(func() {
90 | fmt.Printf("Data channel '%s'-'%d' open.\n", d.Label(), d.ID())
91 | })
92 |
93 | // Register text message handling
94 | d.OnMessage(func(msg webrtc.DataChannelMessage) {
95 | fmt.Printf("Message from DataChannel '%s': '%s'\n", d.Label(), string(msg.Data))
96 | tello.sendCommand(string(msg.Data))
97 | })
98 | })
99 |
100 | CreateMyPipeline(webrtc.VP8, []*webrtc.Track{firstVideoTrack}, videoSrc).Start()
101 |
102 | // Answer WebRTC
103 |
104 | err = peerConnection.SetRemoteDescription(offer)
105 | if err != nil {
106 | panic(err)
107 | }
108 |
109 | answer, err := peerConnection.CreateAnswer(nil)
110 | if err != nil {
111 | panic(err)
112 | }
113 |
114 | // Sets the LocalDescription, and starts our UDP listeners
115 | err = peerConnection.SetLocalDescription(answer)
116 | if err != nil {
117 | panic(err)
118 | }
119 |
120 | return answer
121 | }
122 |
--------------------------------------------------------------------------------
/server/tello.go:
--------------------------------------------------------------------------------
1 | package main
2 |
3 | import (
4 | "fmt"
5 | "net"
6 | "strconv"
7 | )
8 |
9 | const (
10 | udpAddr = "192.168.10.1"
11 | commandPort = 8889
12 | gstreamerCommand = `udpsrc port=11111 caps="video/x-h264, stream-format=(string)byte-stream, width=(int)960, height=(int)720, framerate=(fraction)24/1, skip-first-bytes=2" ! decodebin ! videoconvert ! queue`
13 | )
14 |
15 | // Tello is a thin layer ontop of
16 | // https://terra-1-g.djicdn.com/2d4dce68897a46b19fc717f3576b7c6a/Tello%20%E7%BC%96%E7%A8%8B%E7%9B%B8%E5%85%B3/For%20Tello/Tello%20SDK%20Documentation%20EN_1.3_1122.pdf
17 | type Tello struct {
18 | commandConnection net.Conn
19 | }
20 |
21 | // NewTello initializes Tello
22 | func NewTello() Tello {
23 | droneConnection, err := net.Dial("udp4", udpAddr+":"+strconv.Itoa(commandPort))
24 | if err != nil {
25 | fmt.Println(err)
26 | }
27 |
28 | return Tello{commandConnection: droneConnection}
29 | }
30 |
31 | func (tello *Tello) sendCommand(command string) {
32 | payload := []byte(command)
33 | tello.commandConnection.Write((payload))
34 | }
35 |
36 | func (tello *Tello) connect() {
37 | tello.sendCommand("command")
38 | }
39 |
40 | func (tello *Tello) streamOn() {
41 | tello.sendCommand("streamon")
42 | }
43 |
44 | func (tello *Tello) streamOff() {
45 | tello.sendCommand("streamoff")
46 | }
47 |
48 | func (tello *Tello) land() {
49 | tello.sendCommand("land")
50 | }
51 |
52 | func (tello *Tello) takeOff() {
53 | tello.sendCommand("takeoff")
54 | }
55 |
56 | func (tello *Tello) down(downCommand string) {
57 | tello.sendCommand(downCommand)
58 | }
59 |
--------------------------------------------------------------------------------